panda_py.motion module¶

Motion generation for the Panda robot. These are also directly integrated as convenience methods of the panda_py.Panda class.

class panda_py.motion.JointTrajectory(self: panda_py._core.JointTrajectory, waypoints: collections.abc.Sequence[Annotated[numpy.typing.ArrayLike, numpy.float64, '[7, 1]']], speed_factor: SupportsFloat = 0.2, max_deviation: SupportsFloat = 0, timeout: SupportsFloat = 30.0)¶

Bases: pybind11_object

get_duration(self: panda_py._core.JointTrajectory) → float¶

get_joint_accelerations(self: panda_py._core.JointTrajectory, time: SupportsFloat) → Annotated[numpy.typing.NDArray[numpy.float64], '[7, 1]']¶

get_joint_positions(self: panda_py._core.JointTrajectory, time: SupportsFloat) → Annotated[numpy.typing.NDArray[numpy.float64], '[7, 1]']¶

get_joint_velocities(self: panda_py._core.JointTrajectory, time: SupportsFloat) → Annotated[numpy.typing.NDArray[numpy.float64], '[7, 1]']¶

class panda_py.motion.CartesianTrajectory(*args, **kwargs)¶

Bases: pybind11_object

Overloaded function.

__init__(self: panda_py._core.CartesianTrajectory, positions: collections.abc.Sequence[typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 1]”]], orientations: collections.abc.Sequence[typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[4, 1]”]], speed_factor: typing.SupportsFloat = 0.2, max_deviation: typing.SupportsFloat = 0, timeout: typing.SupportsFloat = 30.0) -> None
__init__(self: panda_py._core.CartesianTrajectory, poses: collections.abc.Sequence[typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[4, 4]”]], speed_factor: typing.SupportsFloat = 0.2, max_deviation: typing.SupportsFloat = 0, timeout: typing.SupportsFloat = 30.0) -> None

get_duration(self: panda_py._core.CartesianTrajectory) → float¶

get_orientation(self: panda_py._core.CartesianTrajectory, time: SupportsFloat) → Annotated[numpy.typing.NDArray[numpy.float64], '[4, 1]']¶

get_pose(self: panda_py._core.CartesianTrajectory, time: SupportsFloat) → Annotated[numpy.typing.NDArray[numpy.float64], '[4, 4]']¶

get_position(self: panda_py._core.CartesianTrajectory, time: SupportsFloat) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]']¶